Velocity-aided IMU-based Attitude Estimation

24 Feb 2020 Benallegue Mehdi Benallegue Abdelaziz Cisneros Rafael Chitour Yacine

This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors providing the body velocity (expressed in the reference frame attached to the body). That issue can be treated differently depending on the level of confidence in the measurements of the magnetometer of the IMU, particularly with regard to the observation of the inclination component with respect to the vertical direction, rendering possible to describe the interaction with gravity... (read more)

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